In a dimension that is invisible to human eyes, called Gosei World, there are beings called Gosei Angels. They have super powers that humans do not have, called Gosei Power. Unknown to humans, they use their powers to protect the Earth and mankind from dangerous elements. To defend the Earth from the invading enemies, the Gosei Angels use a passage called the Tower of Heaven in order to travel between the surface and Gosei World.

However, a group of enemy invaders, called Warstar invades the Earth and destroys the Tower of Heaven. With the Tower destroyed, the Gosei Angels are unable to reach the surface. With no Gosei Angels, the Earth will be destroyed by these invaders. However, 5 young and immature Gosei Angels, while in disguise, were visiting the human world before the invasion and rise up against the demons to protect the Earth. They are the heroes, the Goseigers!